//
// Created by jiang on 2022/1/1.
//

#ifndef FOC_PID_H
#define FOC_PID_H

#include "main.h"
#include "param.h"


void PID_Init(pid_t *pHandle, uint16_t kp, uint16_t ki);

void PID_SetLimitIntegral(pid_t *pHandle, uint32_t limit);

void PID_SetLimitOutput(pid_t *pHandle, uint32_t limit);

void PID_ClearIntegral(pid_t *pHandle);

int PID_Process(pid_t *pHandle, int32_t err);

#endif //FOC_PID_H
